Metrics for description of human capability in execution of operational tasks
Manipulability metrics are used to evaluate the feasibility of a vehicle occupant package design. A manipulability metric quantifies the ability of a virtual human subject to carry out an operational task in the design. Examples of specific manipulability metrics include a force metric quantifying the subject's ability apply a joint torque as a force to a component of the design, a velocity metric quantifying the subject's ability to cause the component to achieve velocity, and a dynamic metric quantifying the subject's ability to cause the component to achieve acceleration. Manipulability metrics are determined using a Jacobian determined as part of a determination of a posture of the subject carrying out the task. The manipulability metric is further determined using an endpoint direction of motion and a combination differential kinematics and static equilibrium considerations.
1. A vehicle interior manufacturing method comprising:
accessing, via a computer processor, a vehicle occupant packaging design representing an orientation of portions of an interior space of a new generation of a vehicle that are occupied by a human subject and accessing a task to be accomplished by the human subject within the interior space of the new generation of the vehicle design, the human subject represented by a virtual human subject comprising a plurality of degrees of freedom, the task comprising an endpoint direction of motion;
accessing, via the computer processor, a set of constraints limiting how the degrees of freedom of the virtual human subject are manipulated to accomplish the task;
determining, via the computer processor, a Jacobian between the degrees of freedom and the task during accomplishment of the task, wherein the Jacobian is based on determining a manipulation over time of the degrees of freedom of the virtual human subject that accomplishes the task while obeying the set of constraints;
wherein the set of constraints comprise a contact constraint preventing motion by the virtual human subject away from a component present in the vehicle occupant packaging design during the task to be accomplished, a discomfort constraint rewarding the virtual human subject for postures where joints are near a neutral position and increasing a penalty when the joints approach joint limits, and a dynamic consistency constraint preferencing a solution to a degree of freedom vector that minimizes energy required to complete the task with diagonal coefficients corresponding to diagonal elements of a joint space inertia matrix and ensuring that the virtual human subject is dynamically balanced during the task;
determining, via a computer processor, a manipulability metric based on the Jacobian and the endpoint direction of motion, the manipulability metric quantifying a capability of the virtual human subject to perform the task along the endpoint direction of motion;
evaluating a feasibility of the vehicle occupant packaging design based upon the manipulability metric prior to manufacturing; and
manufacturing the interior space of the new generation of the vehicle based on the evaluated feasibility of the vehicle occupant packaging design when the manipulability metric satisfies a threshold.
2. The method of claim 1 , wherein determining the Jacobian comprises prioritizing the contact constraint over accomplishment of the task.
3. The method of claim 1 , wherein the set of constraints comprises at least one objective from the group consisting of:
a joint limit objective,
a collision avoidance objective,
a self-penetration avoidance objective; and
wherein determining the Jacobian comprises weighting the manipulation of the degrees of freedom based on the at least one objective.
4. The method of claim 1 , wherein determining the Jacobian further comprises:
processing a closed loop inverse kinematics (CLIK) equation comprising a weighting matrix that is weighted by the set of constraints.
5. The method of claim 1 , wherein determining the manipulability metric comprises processing a differential kinematics equation including the conjunction with a static equilibrium equation also including the Jacobian.
6. The method of claim 5 , wherein the differential kinematics equation provides a mapping between the degrees of freedom of the virtual human subject and the task.
7. The method of claim 5 , wherein the static equilibrium equation provides a relationship between a force applied to the task and a torque applied to the degrees of freedom.
8. The method of claim 1 , wherein the manipulability metric is an acceleration manipulability metric, and wherein the manipulability metric is further based on at least one of:
a velocity bias term including the effects of accelerations from velocity;
a gravity bias term including the effects of accelerations from gravity; and
at least one joint limit torque for at least one of the degrees of freedom.
9. The method of claim 1 , wherein the manipulability metric is a force manipulability metric, and
wherein the design is feasible if the force manipulability metric is above the threshold.
10. The method of claim 1 , wherein the manipulability metric is a velocity manipulability metric, and
wherein the design is feasible if the velocity manipulability metric is below the threshold.
11. The method of claim 1 , wherein the manipulability metric is an acceleration manipulability metric, and
wherein the design is feasible if the acceleration manipulability metric is above the threshold.
12. A non-transitory computer-readable storage medium containing executable computer program code for manufacturing a vehicle interior, the code comprising instructions configured to:
access, via a computer processor, vehicle occupant packaging design representing an orientation of portions of an interior space of a new generation of a vehicle that are occupied by a human subject and accessing a task to be accomplished by the human subject within the interior space of the new generation of the vehicle design, the human subject represented by a virtual human subject comprising a plurality of degrees of freedom, the task comprising an endpoint direction of motion;
access, via the computer processor, a set of constraints limiting how the degrees of freedom of the virtual human subject are manipulated to accomplish the task;
determine, via the computer processor, a Jacobian between the degrees of freedom and the task during accomplishment of the task, wherein the Jacobian is based on determining a manipulation over time of the degrees of freedom of the virtual human subject that accomplishes the task while obeying the set of constraints;
wherein the set of constraints comprise a contact constraint preventing motion by the virtual human subject away from a component present in the vehicle occupant packaging design during the task to be accomplished, a discomfort constraint rewarding the virtual human subject for postures where joints are near a neutral position and increasing a penalty when the joints approach joint limits, and a dynamic consistency constraint preferencing a solution to a degree of freedom vector that minimizes energy required to complete the task with diagonal coefficients corresponding to diagonal elements of a joint space inertia matrix and ensuring that the virtual human subject is dynamically balanced during the task to be accomplished;
determine, via a computer processor, a manipulability metric based on the Jacobian and the endpoint direction of motion, the manipulability metric quantifying a capability of the virtual human subject to perform the task along the endpoint direction of motion;
evaluate a feasibility of the vehicle occupant packaging design based upon the manipulability metric prior to manufacturing; and
manufacture the interior space of the new generation of the vehicle based on the evaluated feasibility of the vehicle occupant packaging design when the manipulability metric satisfies a threshold.
13. The non-transitory computer-readable storage medium of claim 12 ,
wherein determining the Jacobian comprises prioritizing the contact constraint over accomplishment of the task.
14. The non-transitory computer-readable storage medium of claim 12 , wherein determining the Jacobian further comprises processing a closed loop inverse kinematics (CLIK) equation comprising a weighting matrix that is weighted by the set of constraints.
15. The non-transitory computer-readable storage medium of claim 12 , wherein determining the manipulability metric comprises processing a differential kinematics equation including the conjunction with a static equilibrium equation also including the Jacobian.
16. The non-transitory computer-readable storage medium of claim 15 , wherein the differential kinematics equation provides a mapping between the degrees of freedom of the virtual human subject and the task.
17. The non-transitory computer-readable storage medium of claim 15 , wherein the static equilibrium equation provides a relationship between a force applied to the task and a torque applied to the degrees of freedom.
18. A system for vehicle interior manufacturing comprising:
a processor for executing executable computer program code;
a computer-readable storage medium containing the executable computer program code configured to:
access, via the processor, a vehicle occupant packaging design representing an orientation of portions of an interior space of a new generation of a vehicle that are occupied by a human subject and accessing a task to be accomplished by the virtual human subject within the interior space of the new generation of the vehicle design, the virtual human subject represented by a virtual human subject comprising a plurality of degrees of freedom, the task comprising an endpoint direction of motion;
access, via the processor, a set of constraints limiting how the degrees of freedom of the virtual human subject are manipulated to accomplish the task;
determine, via the processor, a Jacobian between the degrees of freedom and the task during accomplishment of the task, wherein the Jacobian is based on determining a manipulation over time of the degrees of freedom of the virtual human subject that accomplishes the task while obeying the set of constraints;
wherein the set of constraints comprise a contact constraint preventing motion by the virtual human subject away from a component present in the vehicle occupant packaging design during the task to be accomplished, a discomfort constraint rewarding the virtual human subject for postures where joints are near a neutral position and increasing a penalty when the joints approach joint limits, and a dynamic consistency constraint preferencing a solution to a degree of freedom vector that minimizes energy required to complete the task with diagonal coefficients corresponding to diagonal elements of a joint space inertia matrix and ensuring that the virtual human subject is dynamically balanced during the task to be accomplished;
determine, via the processor, a manipulability metric based on the Jacobian and the endpoint direction of motion, the manipulability metric quantifying a capability of the virtual human subject to perform the task along the endpoint direction of motion;
evaluate a feasibility of the vehicle occupant packaging design based upon the manipulability metric prior to manufacturing; and
manufacture the interior space of the new generation of the vehicle interior based on the evaluated feasibility of the vehicle occupant packaging design when the manipulability metric satisfies a threshold.
19. The system of claim 18 , wherein determining the Jacobian comprises prioritizing the contact constraint over accomplishment of the task.
20. The system of claim 18 , wherein determining the Jacobian further comprises processing a closed loop inverse kinematics (CLIK) equation comprising a weighting matrix that is weighted by the set of constraints.
21. The system of claim 18 , wherein determining the manipulability metric comprises processing a differential kinematics equation including the conjunction with a static equilibrium equation also including the Jacobian.
22. The system of claim 21 , wherein the differential kinematics equation provides a mapping between the degrees of freedom of the virtual human subject and the task.
23. The system of claim 21 , wherein the static equilibrium equation provides a relationship between a force applied to the task and a torque applied to the degrees of freedom.